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WO2019003273A1 - Capteur à fibre, dispositif de dérivation d'informations de courbure le comprenant, et système d'endoscope ayant ledit dispositif - Google Patents

Capteur à fibre, dispositif de dérivation d'informations de courbure le comprenant, et système d'endoscope ayant ledit dispositif Download PDF

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Publication number
WO2019003273A1
WO2019003273A1 PCT/JP2017/023391 JP2017023391W WO2019003273A1 WO 2019003273 A1 WO2019003273 A1 WO 2019003273A1 JP 2017023391 W JP2017023391 W JP 2017023391W WO 2019003273 A1 WO2019003273 A1 WO 2019003273A1
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WO
WIPO (PCT)
Prior art keywords
light
detection
guide member
detected
bending
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/023391
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English (en)
Japanese (ja)
Inventor
憲 佐藤
高山　晃一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Priority to PCT/JP2017/023391 priority Critical patent/WO2019003273A1/fr
Publication of WO2019003273A1 publication Critical patent/WO2019003273A1/fr
Priority to US16/724,571 priority patent/US20200124405A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00165—Optical arrangements with light-conductive means, e.g. fibre optics
    • A61B1/0017—Details of single optical fibres, e.g. material or cladding
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures

Definitions

  • the present invention has a fiber sensor in which light to be transmitted is modulated according to the magnitude of bending, and the fiber sensor, detects the light to be transmitted to make curvature information including the direction and magnitude of bending.
  • the present invention relates to a bending information deriving device to be derived, and an endoscope system including the bending information deriving device.
  • Patent Document 1 discloses an endoscope shape detection probe as a fiber sensor used in a bending information deriving device.
  • the probe has an optical fiber incorporated in the insertion portion of the endoscope and curved integrally therewith.
  • the optical fiber is provided with two light modulation sections for detecting curvatures in two directions substantially orthogonal to each other at substantially the same position in the longitudinal direction.
  • the light modulation unit modulates the intensity and the like of the wavelength component of the light transmitted through the optical fiber.
  • the curvature information deriving device is based on the change of the intensity of the wavelength component before and after passing through the light modulation part of the probe, the curvature of the optical fiber in the light modulation part, and hence the insertion part curved integrally with the optical fiber. Is derived as curvature information.
  • bending information at a plurality of points can be derived by arranging a plurality of light modulation units for modulating light of different wavelength components at different positions in the longitudinal direction of the optical fiber.
  • the endoscope shape detection probe disclosed in Patent Document 1 is a transmission system in which light transmits an optical fiber in one direction.
  • light transmitted through an optical fiber as disclosed in WO 2016/178279 A1 (hereinafter referred to as Patent Document 2) is reflected by a reflecting member provided at the tip of the optical fiber.
  • a bending information deriving device using a reflection type fiber sensor for returning to the proximal end side of an optical fiber.
  • the reflection type fiber sensor as in this patent document 2
  • the light transmitted through the optical fiber receives the light modulation twice, which reflects the state of curvature more strongly than in the transmission system, so that the curvature information is transmitted. It can be derived more easily and accurately than the system.
  • the present invention has an object to provide a fiber sensor capable of correctly deriving bending information including bending direction and bending size, a bending information deriving device having the same, and an endoscope system including the device. I assume.
  • a fiber sensor having a light guide member in which a plurality of detection points are provided in the longitudinal direction, wherein each of the plurality of detection points absorbs light of a specific wavelength. At least one to-be-detected part which has a light absorber, and the said light absorber which the said to-be-detected part has reduces the influence of the mutual action by the to-be-detected part of the other detection location which exists in the said light guide member.
  • a fiber sensor comprising a colorant selected from
  • the fiber sensor according to the first aspect of the present invention is provided, and the light transmitted by the light guide member of the fiber sensor is detected to detect the direction of bending and the size of the bending.
  • an endoscope system comprising: a curvature information deriving device for deriving curvature information including: and an endoscope having an insertion portion in which the light guide member is incorporated.
  • a bending information deriving device for detecting bending information of a plurality of detection points in a longitudinal direction of a light guide member of a fiber sensor, wherein each of the plurality of detection points is specified At least one detected portion having a light absorber that absorbs light of the wavelength, and the light absorber included in the detected portion alternates with the detected portions of the other detected portions present in the light guide member
  • a curvature information calculation unit including a curvature information calculation unit that derives curvature information of each detection location by expressing curvature components of all the detection locations present in the light guide member under the influence of an action.
  • a bending information deriving device for detecting bending information of a plurality of detection points in a longitudinal direction of a light guide member of a fiber sensor, wherein each of the plurality of detection points is specified At least one detected portion having a light absorber that absorbs light of the wavelength, and the light absorber included in the detected portion alternates with the detected portions of the other detected portions present in the light guide member Under the influence of the action, the separation factor for separating into curved components is the rate of change of each of the specific wavelengths and the rate of change of each wavelength in the light absorbers of the detection portions of all the detection locations present in the light guide member.
  • the curvature information derivation device provided with the curvature information operation part which derives the curvature information on each detection place by being constituted by combination is provided.
  • a bending information deriving device according to the third or fourth aspect of the present invention, and an endoscope having an insertion portion into which the light guide member is incorporated.
  • An endoscopic system is provided.
  • a fiber sensor capable of correctly deriving bending information including bending direction and bending size, a bending information deriving device having the same, and an endoscope system including the device. .
  • FIG. 1 is a view schematically showing an example of an endoscope system including a bending information deriving device according to a first embodiment of the present invention.
  • FIG. 2 is a block diagram showing an example of a fiber sensor of the bending information deriving device.
  • FIG. 3A is a cross-sectional view including the optical axis of the light guide member of the sensor unit.
  • FIG. 3B is a radial cross-sectional view of the light guide member along the line BB in FIG. 3A.
  • FIG. 4 is a diagram for describing two detection points each having two detection target parts in a range that can be considered to be in the same bending state when the light guide member is bent.
  • FIG. 1 is a view schematically showing an example of an endoscope system including a bending information deriving device according to a first embodiment of the present invention.
  • FIG. 2 is a block diagram showing an example of a fiber sensor of the bending information deriving device.
  • FIG. 3A is a cross
  • FIG. 5 is a diagram for explaining two detection points each having one detection target in a range that can be considered to be in the same bending state when the light guide member is bent.
  • FIG. 6A is a diagram showing an example of the arrangement relationship of the detection target when one detection location includes two detection target.
  • FIG. 6B is a diagram showing another example of the arrangement relationship of the detection target when one detection location includes two detection target.
  • FIG. 6C is a diagram showing still another example of the arrangement relationship of the detection target in the case where two detection target are included in one detection location.
  • FIG. 7A is a diagram for explaining the case where the light absorption characteristic of the transmission system and the light absorption characteristic of the reflection system have a strong correlation.
  • FIG. 7A is a diagram for explaining the case where the light absorption characteristic of the transmission system and the light absorption characteristic of the reflection system have a strong correlation.
  • FIG. 7B is a diagram for explaining the case where the correlation between the light absorption characteristic of the transmission system and the light absorption characteristic of the reflection system is weak.
  • FIG. 8 is a diagram showing the light absorption characteristics of four light absorbers that can be used for the four detection parts in FIG.
  • FIG. 9 shows a table of combinations of the four light absorber arrangements of FIG.
  • FIG. 10 is a table of correlation coefficients in the combination of FIG.
  • FIG. 11 is a diagram for explaining three detection points each having two detected parts in a range that can be considered to be in the same bending state when the light guide member is bent.
  • FIG. 12A is a view for explaining an example of the arrangement of the four detection target parts in FIG. 4 in the radial cross section of the light guide member;
  • FIG. 12A is a view for explaining an example of the arrangement of the four detection target parts in FIG. 4 in the radial cross section of the light guide member;
  • FIG. 12A is a view for explaining an example of the arrangement of the four detection
  • FIG. 12B is a view for explaining another example of the arrangement of the four detected portions in FIG. 4 in the radial cross section of the light guide member;
  • FIG. 13 is a diagram showing a table of combinations of arrangement of each detection target in the combination 2 of FIG.
  • FIG. 14 is a diagram showing a table in which combinations of arrangement of the detection target portions in FIG. 13 are summarized.
  • FIG. 15 is a table of correlation coefficients in the combination of FIG.
  • FIG. 16 is a figure for demonstrating the combination of the light absorber in the case of three detection locations which each have two to-be-detected part.
  • FIG. 17 is a view for explaining an example of the arrangement of the six detection target portions in FIG. 16 in the radial cross section of the light guide member.
  • FIG. 1 is a view schematically showing an example of an endoscope system 1 including a bending information deriving device 10 according to a first embodiment of the present invention.
  • the endoscope system 1 includes a bending information deriving device 10, an endoscope device 20, an input device 50, and a display device 60.
  • the endoscope apparatus 20 includes an endoscope 30 and an endoscope control device 40.
  • the endoscope 30 is connected to the endoscope control device 40 via a universal cord (not shown).
  • the endoscope 30 has an insertion portion 31 to be inserted into the insertion target, and an operation portion 32 connected to the proximal end side of the insertion portion 31.
  • the insertion portion 31 is an elongated tubular portion on the endoscope distal end side, and has flexibility.
  • an illumination optical system (not shown), an observation optical system, an imaging device and the like are incorporated at the tip thereof.
  • the insertion portion 31 includes a bending portion that bends in a desired direction when the user operates the operation portion 32.
  • Various operations of the endoscope 30, including this bending operation, are input to the operation unit 32.
  • the endoscope control device 40 includes an endoscope light source 41 for supplying illumination light to the illumination optical system of the endoscope 30.
  • the endoscope light source 41 includes general light emitting elements such as a halogen lamp, a xenon lamp, a laser diode (LD), a light emitting diode (LED) and the like.
  • the endoscope control device 40 controls the drive of the imaging device of the endoscope 30, the drive control of the light source 41 for endoscope, the dimming control of illumination light from the light source 41 for endoscope, and the like. Control of various operations of the endoscope light source 41 is performed.
  • the endoscope control device 40 also includes an image processing unit 42 for processing an image acquired by the observation optical system of the endoscope 30 and the imaging device.
  • the bending information deriving device 10 is a device for deriving bending information of the insertion portion 31 of the endoscope 30.
  • the bending direction and the bending size are collectively referred to as bending information.
  • the bending information deriving device 10 has a control device 100, and a fiber sensor 400 including a sensor unit 200 and a sensor control unit 300. The details of these will be described later.
  • the input device 50 is a general input device such as a keyboard and a mouse.
  • the input device 50 is connected to the control device 100 of the bending information deriving device 10.
  • the input device 50 is used by the user to input various commands for operating the bending information deriving device 10.
  • the input device 50 may be a storage medium, and in this case, the information stored in the storage medium is input to the control device 100.
  • the display device 60 is a general monitor such as a liquid crystal display.
  • the display device 60 is connected to the endoscope control device 40, and displays an observation image acquired by the endoscope 30. Further, the display device 60 is connected to the bending information deriving device 10, and displays the bending information obtained by this, the bending shape of the insertion portion 31, and the like.
  • FIG. 2 is a block diagram showing an example of the fiber sensor 400 including the sensor unit 200 and the sensor control unit 300.
  • the sensor unit 200 includes a light guide member 210, a plurality of detected portions 220 provided in the light guide member 210, and a reflection member 230.
  • the sensor control unit 300 includes a sensor light source 310, a light detector 320, and a light branching unit 330.
  • the light guide member 210 is, for example, an optical fiber and has flexibility.
  • the proximal end of the light guide member 210 is connected to the light branching unit 330 of the sensor control unit 300.
  • the light guide member 210 is incorporated along the longitudinal direction in the insertion portion 31 of the endoscope 30, as schematically shown in FIG.
  • the plurality of detection target portions 220 of the light guide member 210 are disposed at a point of the insertion portion 31 where curvature information is to be obtained, or over an area.
  • a plurality of detected portions 220 are shown in FIGS. 1 and 2. These detected parts 220 include the first detected part 221, and may further include the m-th detected part 22m, that is, m pieces of detected parts 220 are provided in the light guide member 210. Can. Here, m is an arbitrary number.
  • the m detection target portions 221 to 22 m are, for example, arranged at different positions in the longitudinal direction (optical axis direction) of the light guide member 210, that is, they are spaced apart from each other.
  • FIG. 3A is a cross-sectional view of the light guide member 210 including the optical axis.
  • FIG. 3B is a radial cross-sectional view of the light guide member 210 taken along the line BB of FIG. 3A.
  • the light guide member 210 has a three-layer structure including a core 211, a cladding 212 surrounding the core 211, and a jacket (covering, buffer) 213 surrounding the cladding 212.
  • the detected portion 220 modulates the light guided to the light guide member 210 according to the curved state.
  • the light absorber 214 is disposed in the detection portion 220. That is, the detection portion 220 is formed by removing the jacket 213 and a part of the cladding 212 to expose the core 211 and providing the light absorber 214 on the exposed core 211.
  • a substance colored with a coloring material (pigment) and having a refractive index larger than that of the core 211 and smaller than that of the jacket 213 is used.
  • the coloring material for example, a dye, a pigment, and metal nanoparticles are used.
  • the reflection member 230 is connected to the tip of the light guide member 210, that is, to the side not connected to the light branching portion 330 of the sensor control unit 300.
  • the reflective member 230 is a mirror in which a reflective material such as silver, for example, is applied to a reflective surface.
  • the reflecting member 230 reflects the light transmitted from the proximal end to the distal end of the light guiding member 210 so as to return in the direction in which the light branching portion 330 is located. That is, the reflection member 230 reflects the light incident on the light guide member 210 and returns it to the incident side.
  • an inhibitor may be mixed with the reflective material.
  • a coating agent may be applied to the surface of the reflector in order to prevent oxidation or sulfurization of the reflector.
  • the sensor light source 310 (hereinafter simply referred to as the light source 310) includes general light emitting elements such as, for example, a halogen lamp, a xenon lamp, a laser diode (LD), and a light emitting diode (LED).
  • the light intensity emitted from the light source 310 is preferably uniform in the wavelength band detected by the light detector 320.
  • the light intensity here is not limited to the absolute intensity.
  • the output of each wavelength of the photodetector 320 may be uniform.
  • a filter may be inserted in the light path between the light source 310 and the light detector 320 so that the spectrum of light emitted from the light source 310 is uniform.
  • the light detector 320 is a detector that acquires the spectrum (the relationship between the amount of light (light intensity) and the wavelength) of the light that has passed through the detected portion 220 and returned by the reflecting member 230.
  • the light detector 320 can be configured by a spectrometer that acquires light intensity for each wavelength (wavelength band). As long as light intensity for each wavelength band can be acquired, a combination of a color filter and a light receiving element may be used.
  • the light branching unit 330 is a branching unit that branches the light transmitted from the light source 310 to the sensor unit 200 through the light guiding member 311 and the light transmitted from the sensor unit 200 to the light detector 320 through the light guiding member 321. Yes, including optical couplers, half mirrors, etc.
  • the light guide members 311 and 321 may also be flexible optical fibers.
  • the light source 310 emits light in a predetermined emission wavelength range.
  • the emitted light is guided from the light guiding member 311 to the light guiding member 210 via the light branching portion 330, reflected by the reflecting member 230 and turned back, and light guiding from the light guiding member 210 again via the light branching portion 330 It is led to the member 321 and reaches the light detector 320.
  • the light detector 320 passes the detection target 220 (221 to 22 m), and is reflected by the reflection member 230 and returns the spectrum of the light, that is, the relationship between the wavelength and the light intensity (light quantity) in a predetermined wavelength region.
  • the detected light amount information is detected.
  • the light absorber 214 absorbs light of a predetermined wavelength (wavelength band) among the light transmitted through the light guide member 210. For example, when the detection target 220 is in a straight state, part of the light guided through the light guide member 210 is absorbed by the light absorber 214. On the other hand, when the light guide member 210 is curved so that the detected portion 220 comes inside of the bend, the amount of light striking the light absorber 214 decreases, so the amount of light absorbed by the light absorber 214 is small. Become.
  • the amount of light transmitted through the light guide member 210 is increased more than in the straight state.
  • the amount of light striking the light absorber 214 increases, so the amount of light absorbed by the light absorber 214 increases. Therefore, the amount of light transmitted through the light guide member 210 is smaller than that in the straight state.
  • the detection target unit 220 modulates the light transmitted through the light guide member 210 according to the bending state of the detection target unit 220.
  • the light absorber 214 of the detection target 220 modulates the amount (light intensity) of light transmitted through the light guide member 210.
  • the amount of light absorbed by the light absorber 214 of the detected portion 220 changes according to the curved state of the detected portion 220, so the amount of light transmitted through the light guide member 210 changes.
  • the curvature information deriving device 10 derives the curvature information of the detection target 220 based on the light amount change, that is, based on the spectrum detected by the light detector 320, that is, the detected light amount information.
  • the light absorbers 214 having different light absorption characteristics at each wavelength that is, different light modulation characteristics, are detected at different detected portions 220.
  • different types of light absorbers 214 may be prepared, the number of which is the same as the number of the detection portions 221 to 22m.
  • the characteristics of the absorption spectrum of each light absorber 214 are colored with different color materials so as to be different in each of the detection portions 221 to 22m.
  • One is to mix the colorant with the inhibitor.
  • One is to apply a coating agent to the surface of the light absorber 214.
  • One is to cover a part of the sensor unit 200 including the detected unit 220 or the sensor unit 200 with a coating.
  • One is to enclose the preventing agent in a part of the sensor unit 200 including the detected unit 220 or in a coating covering the sensor unit 200.
  • One is to seal nitrogen gas in a part of the sensor unit 200 including the detection unit 220 or in a coating covering the sensor unit 200.
  • an aluminum film may be used during storage of the sensor unit 200 to prevent deterioration, oxidation or sulfurization due to light of the sensor unit 200. Is preferably stored in a package. Furthermore, an antioxidant, a dehumidifying agent, or nitrogen gas may be enclosed in the storage package.
  • the place where the insertion portion 31 can be removed is not limited to between the light branch portion 330 and the sensor portion 200. It may be between the light branching unit 330 and the light source for sensor 310, or between the light branching unit 330 and the light detector 320, or the like.
  • the control device 100 is configured by an electronic computer, for example, a personal computer.
  • the control device 100 includes an input unit 110, a storage unit 120, a bending information calculation unit 130, an endoscope shape calculation unit 140, a sensor drive unit 150, and an output unit 160.
  • the input unit 110, the storage unit 120, and the bending information calculation unit 130 constitute a calculation unit 101.
  • the control device 100 is communicably connected to the endoscope control device 40. Although the control device 100 of the bending information deriving device 10 and the endoscope control device 40 are separated in FIG. 1, the control device 100 may be incorporated into the endoscope control device 40.
  • the above-described detected light amount information is input to the input unit 110 from the light detector 320 of the sensor control unit 300.
  • the input unit 110 transmits the detected light amount information to the bending information calculation unit 130.
  • the information output from the endoscope control device 40 is also input to the input unit 110.
  • the information input to the input device 50 is also input to the input unit 110.
  • the input unit 110 transmits a signal including the input information to the bending information calculation unit 130 or the sensor drive unit 150.
  • the storage unit 120 stores various types of information necessary for the calculation performed by the bending information calculation unit 130.
  • the storage unit 120 stores, for example, a program including a calculation algorithm.
  • the bending information calculation unit 130 calculates the bending information of each detection target 220 based on the information such as the detected light amount information acquired via the input unit 110, the information stored in the storage unit 120, the calculation formula, and the like. calculate.
  • the curvature information calculation unit 130 transmits the calculated curvature information of the detection target unit 220 to the endoscope shape calculation unit 140 and the output unit 160.
  • the bending information calculation unit 130 outputs, to the sensor driving unit 150, information related to the operation of the light detector 320 necessary for calculation of the bending information, such as the gain of the light detector 320.
  • the endoscope shape calculation unit 140 includes, for example, a CPU or an ASIC.
  • the endoscope shape calculation unit 140 determines the shape of the insertion portion 31 of the endoscope 30 in which the detection unit 220 is disposed, based on the bending information of each detection unit 220 calculated by the bending information calculation unit 130. calculate.
  • the calculated shape of the insertion unit 31 is transmitted to the output unit 160.
  • the endoscope shape calculation unit 140 may be incorporated into the bending information calculation unit 130.
  • the sensor drive unit 150 generates a drive signal of the light detector 320 based on the information acquired from the input unit 110 or the bending information calculation unit 130. Based on this drive signal, the sensor drive unit 150 switches on / off of the light detector 320, for example, based on the user's instruction input to the input device 50 obtained via the input unit 110, or the bending information calculation unit Based on the information acquired from 130, the gain of the photodetector 320 is adjusted.
  • the sensor drive unit 150 also controls the operation of the light source 310.
  • the sensor drive unit 150 transmits the generated drive signal to the output unit 160.
  • the output unit 160 outputs, to the display device 60, the bending information of the detection unit 220 acquired from the bending information calculation unit 130 or the shape of the insertion unit 31 acquired from the endoscope shape calculation unit 140. Further, the output unit 160 outputs, to the endoscope control device 40, the bending information of the detection unit 220 acquired from the bending information calculation unit 130 or the shape of the insertion unit 31 acquired from the endoscope shape calculation unit 140. The output unit 160 also outputs the drive signal from the sensor drive unit 150 to the light detector 320.
  • the insertion portion 31 of the endoscope 30 is inserted into the insertion body by the user. At this time, the insertion portion 31 bends in accordance with the bending state of the inserted body.
  • the endoscope 30 obtains an image signal by the observation optical system and the imaging device provided at the tip of the insertion portion 31, and the obtained image signal is transmitted to the endoscope control device 40.
  • the endoscope control device 40 creates an observation image by the image processing unit 42 based on the acquired image signal, and causes the display device 60 to display the created observation image.
  • the user When the user wants to display the bending information of the insertion portion 31 of the endoscope 30 on the display device 60 or wants the endoscope control device 40 to perform various operations using the bending information of the insertion portion 31, the user can The effect is input to the control device 100 by the input device 50. At this time, the bending information deriving device 10 operates.
  • the light source 310 of the sensor control unit 300 is activated based on the drive signal transmitted to the sensor drive unit 150, the output unit 160, and the sensor control unit 300.
  • the light source 310 emits light in a predetermined emission wavelength range. Then, as described above, the amount of light transmitted through the light guide member 210 changes in accordance with the curved state of the detection target 220, and the intensity of the changed light is detected by the light detector 320 for each wavelength. That is, the light detector 320 acquires detected light amount information.
  • the light detector 320 transmits the acquired detected light amount information to the input unit 110 of the control device 100.
  • the transmitted detected light amount information is acquired by the bending information calculating unit 130, and the bending information calculating unit 130 calculates the bending information (bending direction and bending size) of each detection target unit 220.
  • a specific calculation method of the bending information in the bending information calculation unit 130 will be described later.
  • the bending information of each detection target 220 calculated by the bending information calculation unit 130 is acquired by the endoscope shape calculation unit 140.
  • the endoscope shape calculation unit 140 calculates the shape of the insertion unit 31 of the endoscope 30 based on the bending information of the detection unit 220.
  • the bending information of each detection target 220 calculated by the bending information calculation unit 130 or the shape of the insertion unit 31 calculated by the endoscope shape calculation unit 140 is acquired by the endoscope control device 40 via the output unit 160. Be done.
  • the endoscope control device 40 controls the operation of the endoscope 30 based on the bending information of the detected portion 220 or the shape of the insertion portion 31.
  • the bending information of each detection target 220 calculated by the bending information calculation unit 130 or the shape of the insertion unit 31 calculated by the endoscope shape calculation unit 140 is displayed on the display device 60 via the output unit 160. Ru.
  • the sensor drive unit 150 acquires the information input to the input unit 110 and the bending information of each of the detection target units 220 calculated by the bending information calculation unit 130.
  • the sensor drive unit 150 transmits a drive signal to the light detector 320 via the output unit 160 based on the acquired information, and controls the operation of the light detector 320.
  • the bending information calculation unit 130 derives the bending information of each of the detected portions 220.
  • the endoscope shape calculation unit 140 calculates the shape of the insertion portion 31 of the endoscope 30 based on the derived curvature information of the detection target 220. Thereby, the user can obtain the bending information of each detection target 220 or the shape of the insertion portion 31 while operating the endoscope 30.
  • the endoscope control device 40 can appropriately control the operation of the endoscope 30 according to the calculated bending information of each detection target 220 or the shape of the insertion portion 31.
  • the light absorption at the curved portion changes under the influence of the shape of the other curved portion (the absorption of light at the other curved portion). That is, the absorption of light at one curve point interacts with the absorption of light at another curve point. Due to this interaction, the detected light amount information acquired by the light detector 320 may not accurately indicate the bending state of the detection target 220.
  • the bending information calculation unit 130 calculates the bending information based on such detected light amount information, an error occurs in the obtained bending information.
  • the curvature information can be correctly derived (error is reduced) even if there is an interaction, by selecting the coloring material of the light absorber 214 that is less affected by the interaction. This will be described in detail below.
  • the detection points are curved points (sections or areas) considered to have the same direction and magnitude of bending in each area.
  • the detection points P1 include the detection portions 22a and 22b, and constitute the detection portion group ab. Further, the detection portion P2 includes the detection portions 22c and 22d, and constitutes a detection portion group cd.
  • the light absorbers 214 of the detection portions 22a, 22b, 22c, and 22d are colored with different color materials.
  • the change in the amount of light derived from the curvature of the detection subject group ab at the detection location P1 is disposed in the detection subject 22a and the detection subject 22b. This occurs based on the light absorption characteristics of the respective light absorbers 214. This is because as the light absorbers 214 of the detection portions 22a, 22b, 22c and 22d, ones having light absorption characteristics in consideration of the absorption wavelength of the other light absorbers 214 are selected.
  • the light absorption characteristics do not match between the transmission system and the reflection system. Therefore, in the fiber sensor 400 of a reflection system in which light is also transmitted in the opposite direction in the light guide member 210 using the reflection member 230 as in the present embodiment, it is derived from the curvature of the detection target group ab at the detection location P1.
  • the change in the amount of light is influenced by the curved state of the detection target group cd at the detection point P2. That is, based on the light absorption characteristics of the detection portions 22c and 22d at the detection portion P2, not only the light amount change derived from the curvature of the detection portion group ab at the detection portion P1, the light amount change occurs.
  • the change in light amount due to the curvature of the detection subject group cd at the detection place P2 is also affected by the curved state of the detection subject group ab at the detection place P1.
  • the light quantity change has an alternating action.
  • This interaction is largely influenced by the scattering of the light absorber 214 of the detection portion 220.
  • the coloring material contained in the light absorber 214 for example, a dye, a pigment, or metal nanoparticles are used. If the particle size of these colorants is large, scattering tends to occur.
  • the size of these colorant particles is made smaller than the wavelength included in the wavelength band used for detection, that is, the wavelength of light detected by the photodetector 320. In this way, scattering can be reduced.
  • the size of the colorant particles is preferably 1/2 or less of this wavelength, because this effect is greater.
  • the detected light amount information acquired by the light detector 320 accurately indicates the bending state of the detected portion 220, and the bending information calculation unit 130 correctly obtains the bending information (in the calculated bending information It is possible to reduce the error).
  • two detection parts are located at the same position in the longitudinal direction of light guide member 210. It may be arranged.
  • the two detection target portions 22a and 22b may be arranged such that the positions of the light guide members 210 in the longitudinal direction overlap with each other.
  • the lengths and / or widths of the two light detection members 22a and 22b in the longitudinal direction of the light guide member 210 may be different from each other.
  • the scattering of light by the light absorber 214 is reduced, and the influence of interaction is reduced.
  • the effects of interactions can not be completely eliminated.
  • the curvature information calculation unit 130 can correctly obtain curvature information (with a small error) even if such an interaction occurs, by adopting the following method of calculating curvature information.
  • the light amount change rate (or the logarithm of the light amount change rate) V at each wavelength, the curved component S representing the curved state of each detected portion 220, and the V described above are separated into the curved component S of each detected portion 220
  • the coefficient R for this is defined as the following equation (1) to equation (3).
  • the light quantity change rate V can be obtained based on the detected light quantity information acquired by the light detector 320, and the bending component S is a function of the bending information (the direction ⁇ ⁇ of bending and the size (curvature) ⁇ of bending). It is.
  • the bending information calculation unit 130 separates the detected light amount information acquired by the light detector 320 into the bending component S of each detection target 220 according to the following equation (4).
  • the two light detection members 220 (two detection points P1 and P2) are disposed in the light guide member 210.
  • the to-be-detected portion group ab at the detection point P1 is curved with the curvature ⁇ 1 and the direction ⁇ 1 of bending
  • the to-be-detected portion group cd at the detection portion P2 is curved with the curvature ⁇ 2 and the bending direction ⁇ ⁇ 2 There is.
  • the bending component S By representing the bending component S by an expression including the bending information of all the detection points as in the expression (2), the bending information can be derived even if there is an interaction. For this reason, curvature information can be calculated
  • the detection unit group ef constituting the detection portion of the third is assumed to be curved in the direction kappa 3 curvature theta 3 and bending. That is, in this case, it can be expressed as the following equation (6).
  • each bending component S may be expressed as the following equation (7).
  • the curvature information can be determined more correctly as compared with the equation (5).
  • each bending component S may be expressed as the following equation (8).
  • the calculation load is smaller compared to the equation (7), and the bending information can be determined more correctly than the equation (5).
  • the bending information deriving device 10 is the bending information deriving device 10 for detecting the bending information of the plurality of detection points P1 and P2 in the longitudinal direction of the light guide member 210.
  • Each of the plurality of detection locations includes at least one detected portion 220 having a light absorber 214 that absorbs light of a specific wavelength, and the light absorber 214 included in the detected portion 220 is the light guide member It includes a colorant selected to reduce the influence of interaction by the detection target 220 of the other detection points present at 210.
  • the light amount information of the detected portion 220 can be accurately detected by the light detector 320, and the curvature information calculation can be performed.
  • the part 130 it becomes possible to correctly obtain the bending information (the direction and curvature of bending) based on the detected light amount information.
  • the influence of the alternating action can be reduced by making the particle size of the coloring material included in the light absorber 214 of the detection target 220 smaller than the specific wavelength.
  • the particle size of the colorant is preferably 1/2 or less of the specific wavelength.
  • the bending information deriving device 10 is the bending information deriving device 10 that detects bending information of a plurality of detection points P1 and P2 in the longitudinal direction of the light guide member 210, and the plurality of detections Each portion includes at least one detected portion 220 having a light absorber 214 that absorbs light of a specific wavelength, and the light absorber 214 included in the detected portion 220 is present in the light guide member 210.
  • the bending component S is detected at the detection points P1, P2,... Present in the light guide member 210. All the bending information Sa, Sb, Sc, Sd,. And a curvature information calculation unit 130 that derives curvature information of each detection point. Therefore, even if there is an influence of the interaction, the bending information (the direction and curvature of bending) can be correctly obtained (error is reduced).
  • the magnitude of the influence of the interaction differs depending on the coloring material of the light absorber 214 used.
  • the magnitude of the influence of the interaction can be evaluated by the light absorption characteristics of the respective light absorbers 214.
  • the influence of the interaction is reduced by selecting the coloring material of the light absorber 214 based on the similarity between the light absorption characteristic Ut in the transmission system and the light absorption characteristic Ur in the reflection system.
  • the detected light amount information acquired by the light detector 320 accurately indicates the bending state of the detected portion 220, and the bending information calculation unit 130 correctly obtains the bending information (in the calculated bending information It is possible to reduce the error).
  • the light absorption characteristic Ut in the transmission system of the color material and the light absorption characteristic Ur in the reflection system can be obtained by experiment or simulation and selected.
  • the color material included in the light absorber 214 of the detected portion 220 has the light absorption characteristics in the transmission system and the light absorption in the reflection system.
  • the influence of the above-mentioned interaction can be reduced by using one having high correlation of the characteristics.
  • the correlation coefficient representing the correlation is preferably 0.6 or more.
  • the interaction affects the curved state of the other detection point.
  • a case is considered where the light absorption characteristics of the light absorber 214 disposed at one detection point P1 and the light absorption characteristics of the light absorber 214 disposed at the other detection point P2 are similar.
  • the light absorbers 214 having similar light absorption characteristics are not arranged in different detection places (detection subject group), but are alternately provided by arranging in the same detection places (detection subject group) The influence of the action can be reduced.
  • a correlation coefficient J such as the equation (9) described in the second embodiment can be used.
  • the correlation coefficient J between the detection target portions 220 arranged at each detection portion (target detection portion group) may be increased.
  • the respective correlation coefficients J in the combinations of the tables shown in FIG. 9 are as shown in the table shown in FIG. From this table, Combination 1 is preferable because the average value and the maximum value of the correlation coefficient J are the largest. Therefore, in the case of this example, the light absorbers U1 and U2 are selected as the detection portions 22a and 22b of the detection portion group ab at the detection portion P1, and the detection portions 22c of the detection portion group cd at the detection portion P2 Light absorbers U3 and U4 are selected as 22d.
  • the combination may be determined such that the correlation coefficient J of the two light absorbers 214 becomes large.
  • the distance between adjacent detection target groups for example, the distance between the detection target group ab and the detection target group cd
  • the probability that each detection target group bends in the same direction Becomes higher.
  • the similarity of the light absorption characteristics of the light absorbers 214 arranged in the respective detection target groups is high, the light amounts of similar wavelength bands simultaneously change. Therefore, the change in the light amount becomes large, and it is difficult to catch a slight change in the light amount, which causes an error in deriving the bending information.
  • the plurality of detection points P1, P2 and P3 are respectively detected by the plurality of detected portions 220 (22a, 22b; 22c, 22d; 22e, 22f), and the color material included in the light absorber 214 included in the detected portion 220 correlates with the light absorption characteristics of the color material included in the light absorber included in another detected portion at the same detection position Have high light absorption characteristics.
  • the light absorbers 214 such that the similarity, eg, the correlation, of the light absorbers 214 at the same detection location is increased, the other of the light absorbers 214 disposed at one of the detection locations The influence of the interaction on the light absorber 214 arranged at the detection point of the above can be reduced, and the error of the curvature information derivation can be reduced.
  • the color material included in the light absorber 214 included in the detected part 220 has a low correlation with the light absorption characteristics of the color material included in the light absorber included in the detected part adjacent to the detection location. It may be one having absorption characteristics.
  • the similarity, eg, the correlation, of the light absorbers 214 at adjacent detection locations is reduced, it is possible to prevent the light intensity of similar wavelength bands from changing simultaneously. This makes it easy to measure changes in the amount of light, and makes it possible to reduce the error in the derivation of bending information.
  • the configuration as shown in FIG. 4 will be described as an example.
  • four light absorbers U1 to U4 having light absorption characteristics as shown in FIG. 8 can be used, three combinations 1 to 3 as shown in the table shown in FIG.
  • the correlation coefficient J shown in the equation (9) as in the third embodiment is used as an index for evaluating the similarity
  • the combination shown in FIG. 9 is as shown in the table shown in FIG.
  • the plurality of light absorbers 214 disposed in the same detection place If the similarity of the light absorption characteristics is high, the light amounts of similar wavelength bands change simultaneously. Therefore, the change in the light amount becomes large, and it is difficult to catch a slight change in the light amount, which causes an error in deriving the bending information.
  • the combination 2 is preferable because the average value and the maximum value of the correlation coefficient J are the smallest. Therefore, in the case of this example, the light absorbers U1 and U3 are selected as the detection portions 22a and 22b of the detection portion group ab at the detection portion P1, and the detection portions 22c of the detection portion group cd at the detection portion P2 Light absorbers U2 and U4 are selected as 22d.
  • the light absorbers 214 by selecting and arranging the light absorbers 214 such that the correlation coefficient J between the respective detection portions 220 arranged at the same detection portion (the detection portion group) becomes small, a small amount of light can be obtained. The change can be easily measured, and the error in deriving the bending information can be reduced.
  • the combination may be determined so that the correlation coefficient J of the light absorbers 214 arranged in each of the detection subject group ab, the detection subject group cd, and the detection subject group ef.
  • the arrangement is made such that the correlation coefficient J of the light absorption characteristics of the light absorbers 214 arranged in the adjacent to-be-detected portion group becomes small. Therefore, it is possible to prevent changes in the amount of light in similar wavelength bands simultaneously, to make it easy to measure a small amount of change in light amount, and to reduce an error in the derivation of curvature information.
  • the plurality of detection points P1, P2 and P3 are respectively detected by the plurality of detected portions 220 (22a, 22b; 22c, 22d; 22e, 22f), and the color material included in the light absorber 214 included in the detected portion 220 correlates with the light absorption characteristics of the color material included in the light absorber included in another detected portion at the same detection position Have low light absorption characteristics.
  • the similarity, for example, the correlation, of the light absorbers 214 at the same detection location becomes low it becomes easy to measure a slight change in light quantity, and error in the curvature information derivation It can be made smaller.
  • the color material included in the light absorber 214 of the detected portion 220 is a target of an adjacent detection point. It is good also as what has a light absorption characteristic with low correlation with the light absorption characteristic of the color material which the light absorption object which a detection part has contains. As described above, by combining the light absorbers 214 so that the similarity, eg, the correlation, of the light absorbers 214 at adjacent detection locations is reduced, it is possible to prevent the light intensity of similar wavelength bands from changing simultaneously. This makes it easy to measure changes in the amount of light, and makes it possible to reduce the error in the derivation of bending information.
  • the two detection portions 22a and 22b of the detection portion P1 are disposed at positions orthogonal to each other.
  • the positions of the two detected portions 22 a and 22 b in the longitudinal direction of the light guide member 210 may be the same, may partially overlap, or may be different.
  • the two detection target portions 22c and 22d of the detection portion P2 are disposed at positions orthogonal to each other in the radial cross section of the light guide member 210.
  • the cross sections in the radial direction of the light guide member 210 are mutually different. It is arranged at the same position.
  • the positions of the two detected portions 22 a and 22 c in the longitudinal direction of the light guide member 210 are naturally different.
  • the detection portion 22b of the detection portion P1 (detection portion group ab) and the detection portion 22d of the detection portion P2 (detection portion group cd) have the same position. Is located in
  • FIG. 12B in the radial cross section of the light guide member 210, four detection portions 22a, 22b, 22c, and 22d are disposed at positions orthogonal to each other at two detection points (detection portion groups) P1 and P2. There is.
  • the to-be-detected portions 22a and 22c and the to-be-detected portions 22b and 22d have the same direction.
  • the probability of bending is high.
  • the similarity of the light absorption characteristics of the light absorbers 214 arranged in the respective detection portions 220 is high, the light amount change in the similar wavelength band changes simultaneously, and the light amount change becomes large, It is difficult to detect a change in light quantity, which causes an error in deriving curvature information.
  • the combination 2 has a correlation coefficient
  • the average value and the maximum value of J are the smallest and preferred.
  • this combination 2 there are four combinations 21 to 24 of combinations of the arrangement of the four light absorbers U1 to U4 having light absorption characteristics as shown in FIG. 8 as shown in the table shown in FIG. .
  • the detection target portions 22a and 22c and the detection target portions 22b and 22d may be considered. Therefore, among these four combinations, it can be considered that combination 21 and combination 23 are similar, and combination 22 and combination 24 are similar. Therefore, as shown in the table of FIG. 14, it can be put together in two combinations.
  • the combination 22 and the combination 24 are preferable because the average value of the correlation coefficient J is small. Therefore, in the case of this example, the light absorber U1 is selected as the detection portion 22a of the detection portion group ab at the detection portion P1, and the light absorber U4 is selected as the detection portion 22c of the detection portion group cd at the detection portion P2.
  • the light absorber U3 is selected as the detection portion 22b of the detection portion group ab at the detection portion P1
  • the light absorber U2 is selected as the detection portion 22d of the detection portion group cd at the detection portion P2.
  • the light absorber U3 is selected as the detection portion 22a of the detection portion group ab at the detection portion P1
  • the light absorber U4 is selected as the detection portion 22c of the detection portion group cd at the detection portion P2.
  • the light absorber U1 is selected as the detection portion 22b of the detection portion group ab in P1
  • the light absorber U2 is selected as the detection portion 22d of the detection portion group cd in the detection portion P2.
  • the light absorbers 214 As described above, by selecting and arranging the light absorbers 214 such that the correlation coefficient J between the respective detection portions 220 arranged at the same detection portion (the detection portion group) becomes small, a small amount of light can be obtained. The change can be easily measured, and the error in deriving the bending information can be reduced. Furthermore, by combining the light absorbers 214 such that the correlation coefficient J of the light absorbers 214 arranged in the same direction of adjacent detection locations is reduced, it is possible to prevent the light amounts of similar wavelength bands from changing simultaneously. Furthermore, it becomes easy to measure a slight change in light quantity, and it is possible to reduce the error in deriving the curvature information.
  • the light guide member 210 includes three detection points P1, P2 and P3 (ie, six detection portions 22a, 22b, 22c, 22d, 22e and 22f). Also in this case, the combination is determined such that the correlation coefficient J of the light absorbers 214 disposed in each of the detection subject group ab, the detection subject group cd, and the detection subject group ef is reduced.
  • the light absorber is such that the correlation coefficient J is small in the pair PA3 of the detection portion 22c of the detection portion P2 (detection portion group cd) and the detection portion 22e of the detection portion P3 (detection portion group ef). Determine the combination of Then, the light absorber is made such that the correlation coefficient J becomes smaller in the pair PA4 of the detection portion 22d of the detection portion P2 (detection portion group cd) and the detection portion 22f of the detection portion P3 (detection portion group ef) Determine the combination of
  • the light absorber 214 having high similarity to the opposite detection portion, that is, a large correlation coefficient J, is used. Once placed, it operates to offset changes in light intensity. For this reason, the light amount change amount becomes small, the detection range of the light detector 320 can be made small, and it becomes easy to catch a minute light amount change.
  • the color materials included in the light absorber 214 of the detected portion 220 are arranged in the same direction as the adjacent detection points.
  • the light absorbing property is low in the correlation with the light absorbing property of the color material contained in the light absorber that the above-mentioned detection target has.
  • the similarity, for example, the correlation, of the light absorbers 214 arranged in the same direction of adjacent detection points becomes low, it becomes easy to measure a slight change in light quantity. And the error of curvature information derivation can be reduced.
  • the method of deriving bending information in the bending information calculation unit 130 described in the first embodiment is also used in the second to fifth embodiments.
  • the light amount change rate or the logarithm V of the light amount change rate at each wavelength, and the coefficient R for separating the above V into the curved component S of each detected portion 220 are expressed by the following equations (10) and It defines as Formula (11).
  • the bending component S which represents the bending state of each to-be-detected part 220 is defined like Formula (2), as the said 1st Embodiment demonstrated.
  • the elements of the V not only the rate of change V lambda] n at each wavelength, the square of the change rate V lambda] n, expressed by the product of the variation rate each other at each wavelength.
  • a constant ( ⁇ 0) may be added as an element.
  • a combination of higher change rates may be added as an element.
  • the bending information calculation unit 130 separates the detected light amount information acquired by the light detector 320 into the bending component S of each detection target 220 according to Expression (4).
  • the two light detection members 220 (two detection points P1 and P2) are disposed in the light guide member 210.
  • the to-be-detected portion group ab at the detection point P1 is curved with the curvature ⁇ 1 and the direction ⁇ 1 of bending
  • the to-be-detected portion group cd at the detection portion P2 is curved with the curvature ⁇ 2 and the bending direction ⁇ ⁇ 2 There is.
  • each bending component S can be expressed as a function of its own bending information as expressed by the following equation (12).
  • Each bending component S may be expressed as a function of its own bending information and the other bending information, as in the equation (5).
  • the curvature information can be determined more correctly by expressing the curvature component as an expression including the curvature information of all the detection points as in Expression (5).
  • the bending information deriving device 10 is the bending information deriving device 10 for detecting the bending information of the plurality of detection points P1 and P2 in the longitudinal direction of the light guide member 210.
  • Each of the plurality of detection locations includes at least one detected portion 220 having a light absorber 214 that absorbs light of a specific wavelength
  • the light absorber 214 included in the detected portion 220 is the light guide member A light absorber which is subject to the influence of the interaction between the detection portions of the other detection portions present in 210 and has a separation coefficient to be separated into the curved component S, the light absorption members of the detection portions of all detection portions existing in the light guide member 210 the specific wavelength each change rate V lambda] n, and V lambda] n 2
  • the combination of the rate of change of the wavelength for example, by product, in configuration of the rate of change between at each wavelength, curvature information of the respective detection point in Deriving comprises a curved information calculation unit 130. Therefore, even if
  • the bending information calculation unit 130 detects the bending component S in the detection points P1, P2... Existing in the light guiding member 210.
  • the curvature information of each detection location can be derived by expressing it as an expression including Sb, Sc, Sd,.
  • the present invention is not limited to the above embodiment, and can be variously modified in the implementation stage without departing from the scope of the invention.
  • the embodiments may be implemented in combination as appropriate as possible, in which case the combined effect is obtained.
  • the above embodiments include inventions of various stages, and various inventions can be extracted by an appropriate combination of a plurality of disclosed configuration requirements.

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Abstract

Le dispositif de dérivation d'informations de courbure (10) détecte des informations de courbure pour une pluralité de sites de détection (P1, P2) dans une direction longitudinale d'un élément de guidage de lumière (210). La pluralité de sites de détection présente chacun au moins une partie à détecter (22a, 22b, 22c, 22d) ayant un absorbeur de lumière qui absorbe la lumière d'une longueur d'onde spécifique, et l'absorbeur de lumière comprend un matériau coloré qui est sélectionné de façon à réduire l'effet d'interaction de la partie à détecter d'autres sites de détection présents sur l'élément de guidage de lumière.
PCT/JP2017/023391 2017-06-26 2017-06-26 Capteur à fibre, dispositif de dérivation d'informations de courbure le comprenant, et système d'endoscope ayant ledit dispositif Ceased WO2019003273A1 (fr)

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US16/724,571 US20200124405A1 (en) 2017-06-26 2019-12-23 Fiber sensor, curvature information derivation apparatus, endoscope system, and method for manufacturing fiber sensor

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JP2015223440A (ja) * 2014-05-29 2015-12-14 オリンパス株式会社 多点検出ファイバセンサ及び多点検出ファイバセンサを備えた挿入装置
JP2016007506A (ja) * 2014-06-26 2016-01-18 オリンパス株式会社 形状推定装置、それを備えた内視鏡システム、形状推定方法及び形状推定のためのプログラム
JP2016007505A (ja) * 2014-06-26 2016-01-18 オリンパス株式会社 形状推定装置、形状推定装置を備えた内視鏡システム、形状推定方法及び形状推定のためのプログラム

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Publication number Priority date Publication date Assignee Title
JP2015223440A (ja) * 2014-05-29 2015-12-14 オリンパス株式会社 多点検出ファイバセンサ及び多点検出ファイバセンサを備えた挿入装置
JP2016007506A (ja) * 2014-06-26 2016-01-18 オリンパス株式会社 形状推定装置、それを備えた内視鏡システム、形状推定方法及び形状推定のためのプログラム
JP2016007505A (ja) * 2014-06-26 2016-01-18 オリンパス株式会社 形状推定装置、形状推定装置を備えた内視鏡システム、形状推定方法及び形状推定のためのプログラム

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